Coordination of multiple robot arms

Kinematic resolved-rate control from one robot arm is extended to the coordinated control of multiple robot arms in the movement of an object. The structure supports the general movement of one axis system (moving reference frame) with respect to another axis system (control reference frame) by one or more robot arms. The grippers of the robot arms do not have to be parallel or at any pre-disposed positions on the object. For multiarm control, the operator chooses the same moving and control reference frames for each of the robot arms. Consequently, each arm then moves as though it were carrying out the commanded motions by itself

A user-oriented and computerized model for estimating vehicle ride quality

A simplified empirical model and computer program for estimating passenger ride comfort within air and surface transportation systems are described. The model is based on subjective ratings from more than 3000 persons who were exposed to controlled combinations of noise and vibration in the passenger ride quality apparatus. This model has the capability of transforming individual elements of a vehicle's noise and vibration environment into subjective discomfort units and then combining the subjective units to produce a single discomfort index typifying passenger acceptance of the environment. The computational procedures required to obtain discomfort estimates are discussed, and a user oriented ride comfort computer program is described. Examples illustrating application of the simplified model to helicopter and automobile ride environments are presented

Physical observations of comets: Their composition, origin and evolution

Observations of Comet P/Schwassmann-Wachmann 1 (SW1) during one observing run each in 1989 and 1990 are discussed, and the new significant information that was obtained is presented. Also discussed are near-UV observations of comets. The near-UV is a mostly unexplored spectral region for comets since it is not visible to spacecraft such as IUE and most ground-based detectors and spectrographs are not sensitive in the near-UV

Physical observations of comets: Their composition, origin and evolution

The composition, origins, and evolution of comets were studied. The composition was studied using spectroscopic observations of primarily brighter comets at moderate and high resolution for the distribution of certain gases in the coma. The origins was addressed through an imaging search for the Kuiper belt of comets. The evolution was addressed by searching for a link between comets and asteroids using an imaging approach to search for an OH coma

Prelaunch absolute radiometric calibration of the reflective bands on the LANDSAT-4 protoflight Thematic Mapper

The results of the absolute radiometric calibration of the LANDSAT 4 thematic mapper, as determined during pre-launch tests with a 122 cm integrating sphere, are presented. Detailed results for the best calibration of the protoflight TM are given, as well as summaries of other tests performed on the sensor. The dynamic range of the TM is within a few per cent of that required in all bands, except bands 1 and 3. Three detectors failed to pass the minimum SNR specified for their respective bands: band 5, channel 3 (dead), band 2, and channels 2 and 4 (noisy or slow response). Estimates of the absolute calibration accuracy for the TM show that the detectors are typically calibrated to 5% absolute error for the reflective bands; 10% full-scale accuracy was specified. Ten tests performed to transfer the detector absolute calibration to the internal calibrator show a 5% range at full scale in the transfer calibration; however, in two cases band 5 showed a 10% and a 7% difference

Prelaunch absolute radiometric calibration of LANDSAT-4 protoflight Thematic Mapper

Results are summarized and analyzed from several prelaunch tests with a 122 cm integrating sphere used as part of the absolute radiometric calibration experiments for the protoflight TM sensor carried on the LANDSAT-4 satellite. The calibration procedure is presented and the radiometric sensitivity of the TM is assessed. The internal calibrator and dynamic range after calibration are considered. Tables show dynamic range after ground processing, spectral radiance to digital number and digital number to spectral radiance values for TM bands 1, 2, 3, 4, 5, 7 and for channel 4 of band 6

Radiometric calibration and processing procedure for reflective bands on LANDSAT-4 protoflight Thematic Mapper

The radiometric subsystem of NASA's LANDSAT-4 Thematic Mapper (TM) sensor is described. Special emphasis is placed on the internal calibrator (IC) pulse shapes and timing cycle. The procedures for the absolute radiometric calibration of the TM channels with a 122-centimeter integrating sphere and the transfer of radiometric calibration from the channels to the IC are reviewed. The use of the IC to calibrate TM data in the ground processing system consists of pulse integration, pulse averaging, IC state identification, linear regression analysis, and histogram equalization. An overview of the SCROUNGE-era (before August 1983) method is presented. Procedural differences between SCROUNGE and the TIPS-era (after July 1983) and the implications of these differences are discussed

Characterization of radiometric calibration of LANDSAT-4 TM reflective bands

Prelaunch and postlaunch internal calibrator, image, and background data is to characterize the radiometric performance of the LANDSAT-4 TM and to recommend improved procedures for radiometric calibration. All but two channels (band 2, channel 4; band 5, channel 3) behave normally. Gain changes relative to a postlaunch reference for channels within a band vary within 0.5 percent as a group. Instrument gain for channels in the cold focal plane oscillates. Noise in background and image data ranges from 0.5 to 1.7 counts. Average differences in forward and reverse image data indicate a need for separate calibration processing of forward and reverse scans. Precision is improved by increasing the pulse integration width from 31 to 41 minor frames, depending on the band

TM digital image products for applications

Computer compatible tapes (CCTs) of LANDSAT 4 thematic mapper (TM) digital image products are compared and reviewed. The following tape formats are discussed: (1) raw band-sequential data (CCT-BT); (2) calibrated data (CCT-AT); and (3) geometrically resampled data (CCT-PT). Each format represents different steps in the process of producing fully corrected TM data. The CCT-BT images are uncorrected radiometrically or geometrically, CCT-AT data are radiometrically calibrated, and CCT-PT images are both radiometrically and geometrically corrected